Automated handling of shipping containers and connectors

ABSTRACT

A system for managing shipping containers and twist lock connectors is described. The system includes multiple stations. Each station includes a container platform and a pallet station. The container platform is able to accommodate various container sizes and/or multiple containers at one time. The container platform includes connector changers, handlers, and gantries that are able to automatically engage connectors with a container and disengage connectors from a container. The station includes a shuttle able to transfer connectors between the platform handlers and pallet station handlers and gantries. The pallet station includes a pallet with multiple receptacles for storing connectors. The pallet station and/or the container platform may include one or more magazines and/or one or more conveyors.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/925,726, filed on Mar. 19, 2018. U.S. patent application Ser. No.15/925,726 is a division of U.S. patent application Ser. No. 14/727,348,filed on Jun. 1, 2015. U.S. patent application Ser. No. 14/727,348claims priority to U.S. Provisional Patent Application Ser. No.62/008,467, filed on Jun. 5, 2014.

BACKGROUND

Many goods and materials are shipped worldwide. Such shipping maytypically entail utilizing shipping containers to store and transportthe goods and materials. These shipping containers are usually stacked,hoisted, and/or locked using twist lock connectors or “cones” that maybe attached (or “installed”) to a first container and then used tocouple the first container to a second container. Additional containersmay be similarly placed in a vertical stack. The cones may be associatedwith a shipping vessel, and as such, must be attached to containers asthey are loaded onto the vessel and removed from containers as they areunloaded.

Current solutions require human intervention to place or remove theconnectors, requiring workers to perform tasks that can be dangerous andtime consuming. In addition, human intervention is needed to transfercones back to an associated vessel. In addition, existing solutions mayonly be able to handle a limited quantity of cones. Furthermore,existing solutions may not allow cones to be automatically removed andattached or allow for convenient storage and/or monitoring of equipmentsuch as container connectors. Existing solutions may also be limited touse with containers of particular size.

Thus there is a need for a fully automated solution that is able toremove and attach cones, deal with an unlimited quantity of connectors,and be able to handle multiple container sizes.

SUMMARY

Some embodiments provide a shipping container management station. Such astation may include one or more container platforms and one or morepallet stations.

Each container platform may provide a substantially flat surface ofappropriate size for placing one or more shipping containers (and/ordifferently sized containers). The platform may include various guides,clamps, etc. that allow each container to be securely coupled to theplatform. The platform may include a set of access holes through theflat surface that correspond to twist lock connector receptacles on thecontainer.

The platform may include a set of connector changers that are able toattach a connector to a container or detach a connector from a containervia an access hole. Each connector changer may be able to move relativeto the platform along at least one axis such that different arrangementsof container receptacles may be supported (e.g., for different sizedcontainers, for different combinations of containers, etc.).

The platform may include at least one gantry and associated set ofhandlers. The gantry may be able to move along a first axis. Eachhandler may be able to move along a second axis that is perpendicular tothe first axis. In addition, each handler may include at least onegripper that is able to retrieve and secure a connector and release aconnector. The grippers may be able to move along a third axis that isperpendicular to the first and second axes.

Each handler may be able to provide connectors to and/or receiveconnectors from at least one changer. In addition, each handler may beable to transfer connectors to and/or retrieve connectors from ashuttle. The shuttle may be able to receive connectors from each handlerand/or provide connectors to each handler. The shuttle may include aconnector transport that moves along the second axis.

Some embodiments may include a set of robotic arms. Such arms may beassociated with the changers, handlers, gantries, shuttle, and/or otherappropriate elements. Each robotic arm may be able to move along a setof vectors within a multi-dimensional space and may replace one or moreof the other movement elements, as appropriate.

The pallet station may include at least one gantry and at least oneassociated handler. The gantry and handler may be able to provideconnectors to and/or receive connectors from the shuttle. The handlermay include two grippers that maintain a fixed position relative to eachother.

The pallet station may include a pallet having a set of receptacles ableto receive connectors from a handler, provide connectors to a handler,or store received connectors. Alternatively, the pallet may include aset of receptacles and a set of bins, where each bin is able to holdmultiple connectors. As another alternative, the pallet may include onlya set of bins and no receptacles.

The preceding Summary is intended to serve as a brief introduction tovarious features of some exemplary embodiments. Other embodiments may beimplemented in other specific forms without departing from the spirit ofthe disclosure.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The novel features of the disclosure are set forth in the appendedclaims. However, for purpose of explanation, several embodiments areillustrated in the following drawings.

FIG. 1 illustrates a top view of a container handling system accordingto an exemplary embodiment;

FIG. 2 illustrates a side elevation view of the container handlingsystem of FIG. 1 ;

FIG. 3 illustrates top views of alternative container handling systemsaccording to exemplary embodiments;

FIG. 4 illustrates a schematic block diagram of a container handlingsystem according to an exemplary embodiment;

FIG. 5 illustrates a flow chart of an exemplary process used by someembodiments to load a shipping container;

FIG. 6 illustrates a flow chart of an exemplary process used by someembodiments to retrieve connectors from a pallet;

FIG. 7 illustrates top and side views of a container handling systemduring retrieval of connectors from a pallet;

FIG. 8 illustrates a flow chart of an exemplary process used by someembodiments to retrieve connectors from a shuttle;

FIG. 9 illustrates top and side views of a container handling systemduring retrieval of connectors from a shuttle;

FIG. 10 illustrates a flow chart of an exemplary process used by someembodiments to attach connectors to a container;

FIG. 11 illustrates top and side views of a container handling systemduring attachment of connectors to a container;

FIG. 12 illustrates a flow chart of an exemplary process used by someembodiments to unload a shipping container;

FIG. 13 illustrates a flow chart of an exemplary process used by someembodiments to detach connectors from a container;

FIG. 14 illustrates a flow chart of an exemplary process used by someembodiments to transfer connectors to a shuttle;

FIG. 15 illustrates a flow chart of an exemplary process used by someembodiments to transfer connectors to a pallet; and

FIG. 16 illustrates a schematic block diagram of a conceptual computersystem used to implement some embodiments.

DETAILED DESCRIPTION

The following detailed description describes currently contemplatedmodes of carrying out exemplary embodiments. The description is not tobe taken in a limiting sense, but is made merely for the purpose ofillustrating the general principles of some embodiments, as the scope ofthe invention is best defined by the appended claims.

Various inventive features are described below that can each be usedindependently of one another or in combination with other features.Broadly, some embodiments generally provide ways to perform automatedloading and unloading of shipping containers, including automatedhandling of container connectors.

Various example system elements, features, devices, etc. are shown inthe appended drawings. One of ordinary skill in the art will recognizethat such components may be implemented in various different wayswithout departing from the spirit of the disclosure.

Throughout this disclosure, various examples may refer to a “vessel” or“ship” and/or features associated therewith. One of ordinary skill inthe art will recognize that the features described throughout thedisclosure may be applied to different types of vehicle (e.g., motorvehicles, rail vehicles, watercraft, aircraft, spacecraft, etc.) and/orvarious different applications (e.g., ground transport, rail transport,military transport, heavy construction, etc.) that may also utilizestandardized containers and cone attachments.

A first exemplary embodiment provides a system able to manage shippingcontainers and twist lock connectors. The system includes: a platformable to receive a set of shipping containers; a set of connectorchangers associated with the platform; a shuttle associated with theplatform; and at least one gantry, each gantry having a set ofassociated handlers able to transfer connectors between at least oneconnector changer and the shuttle.

A second exemplary embodiment provides an automated method of unloadinga shipping vessel. The method includes: receiving a shipping containerfrom the shipping vessel; retrieving a pallet able to store a pluralityof connectors; detaching multiple connectors from the shippingcontainer; transferring the connectors to the pallet; and releasing thecontainer.

A third exemplary embodiment provides an automated method of loading ashipping vessel. The method includes: receiving a shipping container;retrieving a pallet having multiple connectors; retrieving theconnectors from the pallet; attaching the connectors to the shippingcontainer; and providing the container to the shipping vessel.

Several more detailed embodiments are described in the sections below.Section I provides a description of various exemplary systemarchitectures. Section II then describes various methods of operationused by some embodiments. Lastly, Section III describes a computersystem which implements some of the embodiments.

I. System Architecture

A. Physical Architecture

FIG. 1 illustrates a top view of a container handling system 100according to an exemplary embodiment. As shown, the system may include aplatform 105, various guides and clamps 110-120, access holes 125, oneor more shipping containers 130, a first set of gantries 135 andassociated rails 140, a pallet support 145, pallet 150 with associatedreceptacles 155, a second set of gantries 160, and a set of shuttles165. In addition, a first axis 170 may be associated with a movementpath of the gantries 135 and 160.

The platform 105 may be made of metal or other appropriate materials andmay include various supports, footings, etc., as appropriate. Theplatform may be able to support one or more shipping containers 130(and/or other types of containers) of varying size (e.g., shippingcontainers having a length of twenty feet, forty feet, forty-five feet,fifty-three feet, fifty-eight feet, etc.).

The guides 110 may be positioned and shaped such that as a storagecontainer 130 is lowered into place the container is automaticallyplaced in the correct position for attaching and/or detachingconnectors. The clamps 115 may be similarly shaped and sized as theguides 110. The clamps 115 may be able to move along axis 170 such thatcontainers 130 may be secured in place and/or such that different sizecontainers may be handled.

In this example, the guides/clamps 120 may be able to move to a“disengaged” position such that they do not protrude past the surface ofthe platform 105 in order that a shipping container 130 may be able tobe placed adjacent to the surface. The clamps 120 may be able to move toan engaged position such that at least a portion of the clamp extendspast the surface of the platform 105 in a similar manner to guides 110or clamps 115. In some embodiments, the clamps 120 may be able to movealong axis 170 to allow additional positioning. With the clamps 120 insuch an engaged position, the platform 105 may be able to receivecontainers 130 of different size or shape and/or different numbers ofcontainers. Such configurations may include, for example, a singletwenty foot container, two twenty foot containers placed end-to-end, asingle forty foot, forty-five foot, fifty-three foot, of fifty-eightfoot container, dual forty foot, forty-five foot, fifty-three foot, orfifty-eight foot containers placed side-by-side, etc.

Each access hole 125 may be associated with a cone changer. The accessholes may be of different size and/or orientation such that anassociated cone changer may be moved relative to the platform 105 (andcontainer 130) and different container configurations may be managed.Each hole 125 may be sized and positioned such that a cone associatedwith a receptacle of the container 130 may be attached to the containerand/or detached from the container via the hole 125. Holes may typicallybe located at exterior corner locations associated with the containers(e.g., the square holes in this example). In addition, holes may belocated within the body of the container 130 and/or at “interior”corners when multiple containers are loaded (e.g., the rectangular holesin this example). Different embodiments may include different numbers ofholes 125, differently sized holes, and/or differently positioned holes.

The shipping container 130 may be made of various appropriate materials(e.g., steel, aluminum, etc.) and/or combinations thereof. Lengths mayvary from about eight to fifty-six feet. Height and width may vary fromabout eight to ten feet and may generally be equal. In addition to theseexamples, various other configurations may be used. For instance,different embodiments may utilize differently sized containers,differently shaped containers, and/or otherwise modified containers.

Each gantry 135 may be able to be moved along supports 140 parallel toaxis 170. Each gantry 135 may include various motors, controllers,sensors, etc. that may allow the gantry to move along the rails 140 to aspecified position relative to the platform 105.

The pallet support 145 may be able to support one or more pallets 150.The support 145 may provide a flat surface (or set of beams or joists)that is able to receive a pallet 150 and hold the pallet in a particularlocation. In some embodiments the support may include various guides,clamps, etc. that may be used to position the pallet during use.

The pallet may have a generally flat top surface with variousreceptacles 155 spaced throughout the surface. The number of receptaclesper pallet 150 may vary according to the application, the size of thepallet, and/or other relevant factors. In some embodiments, each pallet150 may include between fifty and one thousand receptacles 155 (e.g.,four hundred receptacles).

The pallet 150 may include a frame or other structural elements. Someembodiments may include a pallet handler or otherwise be able tomanipulate pallets such that multiple pallets may be used if necessary.As an example, some embodiments may determine that a pallet is full (oralmost full) and send a request message for an additional pallet. Such arequest may be relayed to an appropriate resource (e.g., a crane, lift,truck, etc.) and the other resource may provide the pallet.

In addition, some embodiments may allow pallets to be tilted such thatany stored cones are released and may be transferred to other storageelements (e.g., bins). For instance, the pallet may be able to berotated about an axis that is parallel to axis 170. In this way, anyunused cones may be easily returned to a shipping vessel as the conesare typically associated with the ship. Alternatively, the cones may bereleased directly into bins (e.g., via holes in portions of the pallets)and/or removed from the pallets 150 and placed in bins using a handleror other appropriate device.

Each receptacle 155 may be able to receive and store a connector. Insome embodiments, the receptacles may include sensors and/or otherelements that allow the receptacles to determine whether a connectorcurrently resides at the receptacle.

Each gantry 160 may be able to be moved along supports 140 parallel toaxis 170. Each gantry 160 may include various motors, controllers,sensors, etc. that may allow the gantry to move along the rails 140 to aspecified position relative to the support 145.

Each shuttle 165 may include a set of receptacles that are able totransfer connectors between gantry 135 and gantry 160. In this example,there are two shuttles 165 and two of each type of gantry 135 and 160.Different embodiments may include different numbers of each element,configured appropriately (e.g., such that the platform is divided intoevenly-sized sections server by each gantry).

Some embodiments may include a rotary conveyor associated with eachplatform 105. Such a conveyor may be able to receive connectors fromgantry 135 and/or supply connectors to the gantry. Such a conveyor mayallow the platform 105 to be utilized when no pallet 150 is available(e.g., when an empty pallet is being loaded) and/or when the palletplatform 145 is undergoing maintenance or repair. The system may be ableto transfer connectors from the conveyors to a pallet when one becomesavailable. In addition, when loading containers, connectors may betransferred to the conveyor before a pallet change is made so thatconnectors may remain available while the pallet is changed.

Some embodiments may include a set of magazines, where each magazine isable to accommodate multiple cones. For instance, some embodiments mayinclude a magazine associated with each cone changer. In someembodiments, each platform 105 and/or support 145 may include pallets,conveyors, and/or magazines.

FIG. 2 illustrates a side elevation view of container handling system100. For clarity, various obstructing support elements (e.g., frames,beams, joists, etc.) have been omitted. As shown, gantry 160 may beassociated with a handler 210, gantry 135 may be associated with twohandlers 220, and shuttle 165 may be associated with a transport 230. Inaddition, system 100 may include a set of connector changers 240. Asecond axis 250 may be associated with a movement path of the handlers210 and 220 and transport 230. A third axis 260 may be associated withan additional movement path of the handlers 210 and 220.

Handler 210 may be able to move along gantry 160 parallel to axis 250.In addition, at least a portion of the handler 210 may be able to moveparallel to axis 260. The handler 210 may include two grippers, whereeach gripper is able to retrieve, secure and transport, and/or release aconnector, as appropriate. Each gripper may include a set of protrudingarms or other elements that may be manipulated to secure or release aconnector. Alternatively, grippers may utilize magnetic elements,suction, and/or other appropriate elements to interact with connectors.

Handler 220 may be able to move along gantry 135 parallel to axis 250.In addition, at least a portion of the handler 220 may be able to moveparallel to axis 260. Each handler 220 may include one gripper.

Transport 230 may be able to move along shuttle 165 parallel to axis250. Each transport 230 may be able to hold two or more connectors, withreceptacles placed such that the grippers of handler 210 are able todeposit or retrieve two connectors simultaneously.

Each connector changer 240 may be able to receive one connector. Theconnector changer may be able to move along axis 170 in order to alignwith a desired position within access hole 125 (e.g., to accommodatedifferent sized containers with differing receptacle locations). Theconnector changer 240 may also be able to be positioned in various otherappropriate ways. In addition, each connector changer may be able tomove along axis 260 when connecting or disconnecting a cone from acontainer 130. Each changer 240 may be able to manipulate a cone suchthat the cone is able to be attached to a container 130 or detached froma container (e.g., by rotating or twisting to engage the cone with thecontainer and rotating or twisting in an opposite direction to disengagethe cone from the container).

In some embodiments, robotic arms may be used in conjunction with and/orin place of various elements described above. Such robotic arms may beable to move along multiple axes within a multi-dimensional space. Eachrobotic arm may include one or more pivoting elements, rotatingelements, and/or other appropriate movement elements. The arms may bemove along a set of vectors that define a movement path. Such vectorsand paths may be defined using Cartesian coordinates. Each arm mayinclude various associated grippers and/or other appropriate elementsthat may allow the arms to grasp, manipulate, and/or place cones.

In some embodiments a robotic arm may be associated with each changerand may be used to retrieve cones from a gantry, handler, receptacle,etc. and supply the cone to the changer (or vice-versa when retrieving acone from the changer). As another example, each gantry associated witha pallet may include one or more robotic arms that are able to retrievecones from the pallet receptacles (or place cones in the receptacles).

FIG. 3 illustrates top views of alternative container handling systems310 and 320 according to exemplary embodiments. One of ordinary skill inthe art will recognize that these systems are provided for examplepurposes and that various other configurations may be provided by otherembodiments. Such systems may be able to be retrofitted to existingcranes and platforms. In addition, such systems may be utilized formanufacture of new crane systems.

As shown, the first example system 310 includes two platforms 105 placedon either side of a pallet station 145. Such a configuration may allowfor increased efficiency and/or retrofitting to existing containerhandling stations. In this example, the platform 105 on the right has asmaller container 130 than the platform 105 to the left. As such, theguides 120 have been moved to an engaged position. The platform 105 tothe right also includes a different hole 125 configuration and guide 110configuration.

The second example system 320 includes two platforms 105, eachassociated with a pallet station 145. In this example, the pallet 150 atthe left station 145 includes a number of bins 330 in addition to thereceptacles 155. Such a configuration may allow cones to be placed inthe bins 330 for return to a vessel.

The platform 105 on the right in the example system 320 includes twocontainers 130 placed end-to-end. In addition, the pallet 150 on theright side includes multiple bins 330 and no receptacles 155. Such aconfiguration may allow all cones to be placed in the bins when notneeded for container loading.

One of ordinary skill in the art will recognize that the physicalelements described in reference to FIGS. 1-3 may be implemented invarious different ways without departing from the spirit of thedisclosure. For instance, different embodiments may have elements ofdiffering size, shape, orientation, etc. than shown. As another example,different embodiments may include different numbers of elements,additional elements, fewer elements, and/or different configurations ofelements. In addition, for clarity, various structural support elementsare omitted from the structures described above. For instance, eachstation may include a frame and various platforms. The station structuremay support and link the platforms, pallet stations, shuttles, gantriesand rails, etc. The various elements may be coupled in variousappropriate ways (e.g., welds, fasteners, adhesives, etc.).

In some embodiments, each changer and/or handler may include a separatemagazine or conveyor used to store connectors. Such magazines may havelimited storage capabilities compared to pallets, but may allow eachstation section to function independently.

B. Hardware Architecture

FIG. 4 illustrates a schematic block diagram of a container handlingsystem 400 according to an exemplary embodiment. Such a system may beused with, for example, any of the physical configurations of FIGS. 1-3. As shown, the system may include a handler 210, a gantry 160, one ormore station systems 100, a shuttle 165, gantry 135, and handlers 220.

Handler 210 (and handler 220) may include a station interface 405, a setof position controllers 410, a gripper controller 415, and a set ofsensors 420. Gantry 160 (and gantry 135) may include a station interface405, a position controller 410, and a set of sensors 420. The shuttle165 may include a station interface 405, a position controller 410, anda set of sensors 420.

Each station interface 405 may be able to communicate with theappropriate element of station 100. Each interface 405 may be able toreceive commands, generate and send data including sensed data, status,etc., and/or otherwise communicate with station 100.

Each position controller 410 may be able to control movement of theelement along at least one axis. The controller may interface withvarious motors, hydraulic elements, etc. to position the element asdesired.

Each gripper controller 415 may be able to control a gripper by causingthe gripper to release, grasp, or secure a connector.

Each set of sensors 420 may include various types of sensor elements(and/or associated data) that may allow for manipulation of theassociated system component. For instance, each handler 210 or 220 mayinclude one or more cameras that may allow the handler to visuallyidentify connectors in order to determine whether a receptacle isoccupied. As another example, each handler may include various positionsensors that are able to determine the handler position relative to aplatform 105 or pallet station 145.

The station system 100 may include a controller 425, storage 430, a setof handler interfaces 435, a set of gantry interfaces 440, a set ofshuttle interfaces 445, a set of platform interfaces 450, a set of craneinterfaces 455, and a communication interface 460.

Controller 425 may be able to execute algorithms and/or manipulate datain order to at least partly control the operations of other systemcomponents. Although the controller is shown as being wholly included inthe station 100, some embodiments may include multiple distributedcontrollers. For instance, some embodiments may include a controller ateach platform 105, each pallet station 145, etc. In this way, if anycontroller is unavailable or malfunctioning, the other station elementsmay continue to operate independently. The controllers 425 may be ableto communicate or otherwise interact as appropriate.

Storage 430 may be able to store data and/or instructions for use bycontroller 425 and/or other system elements.

Each handler interface 435 may be able to communicate with the handlers210 and 220 via station interface 405. The station system 100 may thusbe able to receive information from the handlers 0210 and 220 (e.g.,position, status, etc.), and/or provide information and/or commands tothe handlers (e.g., target position, gripper status, etc.).

Each gantry interface 440 may be able to communicate with the gantries135 and 160 via station interface 405. The station system 100 may thusbe able to receive information from the gantries 135 and 160 (e.g.,position, status, etc.), and/or provide information and/or commands tothe gantries (e.g., target position, handler status, etc.). In someembodiments, the station 100 may communicate with the gantries 135 and160 which, in turn, communicate with any associated handlers 210 or 220.

Each shuttle interface 445 may be able to communicate with the shuttle165 via station interface 405. The station system 100 may thus be ableto receive information from the shuttle 165 (e.g., position, status,etc.), and/or provide information and/or commands to the shuttle (e.g.,target position, transport status, etc.).

The platform interface(s) 450 may allow the station 100 to interact withthe platform elements, appropriate. For instance, guides, clamps, etc.may be at least partially controlled via the platform interface 450.Likewise, status, position, etc. of the guides, clamps, changers, and/orother platform elements may be received via the platform interface(s).

The crane interface(s) 455 may allow the station 100 to interact withvarious other shipping yard or station elements. For instance, a craneassociated with a handling station 100 may be at least partly controlledby interface 455. As another example, the interface may be able toreceive information from cranes or other elements (e.g., containeravailable, crane status, etc.). In addition to or in place of cranes,other external elements such as pallet loaders (e.g., lifts, trucks,etc.) may be at least partly controlled by interface 455. Likewise, theinterface 455 may be able to retrieve and/or receive instructions,messages, commands, status, etc. from the various external elements. Inthis way, station 100 may interact with various other components of theshipping yard to further automate container handling.

Communication interface 460 may allow the station 100 to interact withvarious local and/or remote servers 465. Such servers may be accessibleacross one or more networks. In some cases, a server may controlmultiple stations 100 associated with a shipping yard. Such aconfiguration may allow for improved efficiency in managing resources(e.g., pallets, pallet loaders, cranes, etc.) that may be utilized bymultiple stations.

One of ordinary skill in the art will recognize that system 400 may beimplemented in various different ways without departing from the spiritof the disclosure. For instance, different embodiments may includedifferent numbers of elements, different communication pathways amongelements, etc.

II. Methods of Operation

A. Container Loading

FIG. 5 illustrates a flow chart of an exemplary process 500 used by someembodiments to load a shipping container. Such a process may begin, forinstance, when a container is made available to a system of someembodiments (e.g., when a container has been hoisted into position by acrane or other appropriate apparatus).

As shown, the process may receive (at 510) the container (e.g., byproviding guides to steer the container into a desired position). Such aposition may place the container such that various features of thecontainer are aligned with various features of the attachment/detachmentsystem. The container may be secured in place using clamps or otherappropriate features.

The process may then retrieve (at 520) a pallet or other connectorstorage element. Such retrieval may involve requesting a pallet fromanother system resource, loading a pallet from a pallet handler, etc.

Next, the process may retrieve (at 530) a set of connectors to beattached to the container. Alternatively, the connectors may beretrieved before the container is positioned if the containerconfiguration is known. Such connectors may be retrieved from a storageelement such as a rack, pallet, magazine, or other appropriate elementusing an automated handler of some embodiments.

The process may then attach (at 540) the connectors to the container.Such connectors may be attached in various appropriate ways. Forinstance, each connector may be delivered by the automated handler to aconnection/disconnection element that is positioned in an appropriatelocation relative to a connector receptacle of the container. Theconnection element may then insert the connector into the receptacle andsecure the connector in place (e.g., by twisting the connector orotherwise adjusting the connector position such that the connector issecurely coupled to the container).

Next, the process may release (at 550) the container and then end. Suchrelease may involve one or more mechanical releases (e.g., releasingclamps or other securing features) and/or virtual releases (e.g.,sending a release message to a central controller or other appropriateelement).

FIG. 6 illustrates a flow chart of an exemplary process 600 used by someembodiments to retrieve connectors from a pallet. Such a process maybegin, for instance, when a container is loaded to a station. Process600 will be described by reference to FIG. 7 , which illustrates top andside views of a container handling system during retrieval of connectorsfrom a pallet.

As shown, process 600 may determine (at 610) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of pallets, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 610) that the operating parameters are notavailable, the process may retrieve (at 620) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a handler toscan a pallet using a camera to determine a next available location,etc.).

Next, the process may position (at 630) the gantry along the first axis.Example 700 shows the gantry at an initial or default position. Example710 shows the gantry moved to a position along the first axis that isassociated with a column of available connectors.

The process then may position (at 640) the handler along the secondaxis. Example 710 shows the handler moved from the default position ofexample 700. The process may then retrieve (at 650) connectors from thepallet. As shown in example 710, the handler may lower the grippers,grasp the connectors 715, and raise the grippers so that the connectorsare free of the pallet.

Next, the process may position (at 660) the gantry along the first axis.As shown in example 720, the gantry may move back to a position past theedge of the pallet and aligned with the shuttle. Next, the process mayposition (at 670) the handler along the second axis and transfer (at690) the connectors to the shuttle transport and then may end. As shownin example 720, the handler may move along the second axis to a positionover the transport. The handler may then lower the grippers and releasethe connectors to the transport.

FIG. 8 illustrates a flow chart of an exemplary process 800 used by someembodiments to retrieve connectors from a shuttle. Such a process maybegin, for instance, after connectors have been placed in the shuttletransport using a process such as process 600. Process 800 will bedescribed by reference to FIG. 9 , which illustrates top and side viewsof a container handling system during retrieval of connectors from ashuttle.

As shown, process 800 may determine (at 810) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of shuttles, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 810) that the operating parameters are notavailable, the process may retrieve (at 820) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a shuttle toscan a transport receptacle, etc.).

Next, the process may position (at 830) the shuttle transport along thesecond axis. Such an operation is shown in example 900 as the transportmoves from left to right. The process may then position (at 840) thegantry along the first axis such that the gantry is over a portion ofthe shuttle.

The process may then position (at 850) a first handler along the secondaxis and retrieve (at 860) a connector from the shuttle transport. Theconnector may be retrieved by lowering the gripper of the first handler,grasping the connector, and raising the gripper as shown in example 900.The first handler may then be positioned along the second axis so as notto interfere with the second handler (and/or to align with a changer).

Next, the process may position (at 870) the second handler along thesecond axis, retrieve (at 880) the other connector from the shuttletransport and then may end. As shown in example 900, the connector maybe retrieved by lowering the gripper of the first handler, grasping theconnector, and raising the gripper. The second handler may then bepositioned along the second axis to align with a changer.

FIG. 10 illustrates a flow chart of an exemplary process 1000 used bysome embodiments to attach connectors to a container. Such a process maybegin, for instance, after connectors have been retrieved from theshuttle transport using a process such as process 800. Process 1000 willbe described by reference to FIG. 11 , which illustrates top and sideviews of a container handling system during attachment of connectors toa container.

As shown, process 1000 may determine (at 1010) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of changers, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 1010) that the operating parameters are notavailable, the process may retrieve (at 1020) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a changer toscan a container using a camera to determine a next available location,etc.).

Next, the process may position (at 1030) the gantry along the first axisand position (at 1040) handlers along the second axis. Such a state isshown in example 1110. The process may then transfer (at 1050) theconnectors to the changers. Such an operation is shown in example 1110,where the grippers are lowered over the changes and the connectors arereleased into the changer receptacles.

The process may then position (at 1060) the gantry along the first axissuch that the gantry will not interfere with the movement of thechangers as shown in example 1120. Next, the process may attach (at1070) the connectors to the container by raising the changers (andconnectors) and twisting (and/or otherwise manipulating) the connectorssuch that the connectors are secured to the container. The process maythen end.

B. Container Unloading

FIG. 12 illustrates a flow chart of an exemplary process 1200 used bysome embodiments to unload a shipping container. Such a process maybegin, for instance, when a container is made available to anattachment/detachment feature of some embodiments (e.g., when acontainer has been hoisted into position by a crane or other appropriateapparatus).

As shown, the process may receive (at 1210) the container (e.g., byproviding guides to steer the container into a desired position). Such aposition may place the container such that various features of thecontainer are aligned with various features of the attachment/detachmentfeature. The container may be secured in place using clamps or otherappropriate features.

The process may then retrieve (at 1220) a pallet or other storageelement. Next, the process may detach (at 1230) a set of connectors fromthe container. Such connectors may be detached in various appropriateways. For instance, each connector may be retrieved by aconnection/disconnection element that is positioned in an appropriatelocation relative to a connector receptacle of the container. Thedisconnection element may then release the connector (e.g., by twistingthe connector or otherwise adjusting the connector position such thatthe connector is released from the container receptacle) and removingthe connector from the receptacle.

Next, the process may store (at 1240) the connectors. Such connectorsmay be stored by retrieving the connectors from the disconnectionelement using an automated handler and placing the connectors in a rack,bin, pallet, magazine, or other appropriate storage element.

Next, the process may release (at 1250) the container and then end. Suchrelease may involve one or more mechanical releases (e.g., releasingclamps or other securing features) and/or virtual releases (e.g.,sending a release message to a central controller).

FIG. 13 illustrates a flow chart of an exemplary process 1300 used bysome embodiments to detach connectors from a container. Such a processmay begin, for instance, when a container is made available to anattachment/detachment feature of some embodiments (e.g., when acontainer has been hoisted into position by a crane or other appropriateapparatus). Process 1300 may be considered a complement to process 1000and may be better understood by reference to FIG. 11 .

As shown, process 1300 may determine (at 1310) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of changers, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 1310) that the operating parameters are notavailable, the process may retrieve (at 1320) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a changer toscan a container using a camera to determine whether a location isoccupied, etc.).

Next, the process may detach (at 1330) the connectors from thecontainer. The process may then position (at 1340) the gantry along thefirst axis such that the gantry is aligned with the changers.

The process may then position (at 1350) the handlers along the secondaxis and retrieve (at 1360) the connectors from the changers. Next, theprocess may position (at 1370) the gantry along the first axis such thatthe gantry is aligned with the shuttle and then may end.

FIG. 14 illustrates a flow chart of an exemplary process 1400 used bysome embodiments to transfer connectors to a shuttle. Such a process maybegin, for instance, after connectors have been removed from a containerusing a process such as process 1300. Process 1400 may be considered acomplement to process 800 and may be better understood by reference toFIG. 9 .

As shown, process 1400 may determine (at 1410) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of shuttles, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 1410) that the operating parameters are notavailable, the process may retrieve (at 1420) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a shuttle toscan a transport receptacle, etc.).

Next, the process may position (at 1430) the shuttle along the secondaxis such that the transport is available to the pallet gantry. Theprocess may then position (at 1440) the gantry along the first axis,position (at 1450) the first handler along the second axis, and transfer(at 1460) the connector to the shuttle transport.

Process 1400 may then position (at 1470) the second handler along thesecond axis, transfer (at 1480) the connector to the transport and thenmay end.

FIG. 15 illustrates a flow chart of an exemplary process 1500 used bysome embodiments to transfer connectors to a pallet. Such a process maybegin, for instance, after connectors have been retrieved from a shuttleusing a process such as process 1400. Process 1500 may be considered acomplement to process 600 and may be better understood by reference toFIG. 7 .

As shown, process 1500 may determine (at 1510) whether operatingparameters are available or known. Such parameters may include, forinstance, status and/or position of pallets, gantries, and/or handlers,type of container, availability of connector receptacles, etc. If theprocess determines (at 1510) that the operating parameters are notavailable, the process may retrieve (at 1520) or determine the necessaryparameters. Such parameters may be retrieved by querying an appropriateresource (e.g., a station controller or server). Alternatively, theparameters may be obtained by polling and/or manipulating components(e.g., by requesting position information, by directing a handler toscan a pallet using a camera to determine a next available location,etc.).

Next, the process may position (at 1530) the gantry along the first axissuch that the gantry is aligned with the shuttle. The process may thenposition (at 1540) the handler along the second axis and position (at1550) the shuttle transport along the second axis such that the handlerand transport are aligned.

The process may then retrieve (at 1560) the connectors from the shuttletransport, position (at 1570) the gantry along the first axis, position(at 1580) the handler along the second axis, transfer (at 1590) theconnectors to the pallet, and then may end.

The processes described above may be performed by systems such as thosedescribed above and below. Although the processes have been described byreference to a single container, similar processes may be implementedwith sets of containers that may be coupled together in variousappropriate ways. Such processes may be performed in various differentways without departing from the spirit of the disclosure. For instance,the operations may be performed in a different order. As anotherexample, different additional operations may be included or describedoperations may be eliminated. In addition, such processes or portionsthereof may be performed iteratively. Such processes may be divided intosub-processes or included as components of a macro-process.

III. Computer System

Many of the processes and modules described above may be implemented assoftware processes that are specified as one or more sets ofinstructions recorded on a non-transitory storage medium. When theseinstructions are executed by one or more computational element(s) (e.g.,microprocessors, microcontrollers, digital signal processors (DSPs),application-specific integrated circuits (ASICs), field programmablegate arrays (FPGAs), etc.) the instructions cause the computationalelement(s) to perform actions specified in the instructions.

In some embodiments, various processes and modules described above maybe implemented completely using electronic circuitry that may includevarious sets of devices or elements (e.g., sensors, logic gates, analogto digital converters, digital to analog converters, comparators, etc.).Such circuitry may be able to perform functions and/or features that maybe associated with various software elements described throughout.

FIG. 16 illustrates a schematic block diagram of a conceptual computersystem 1600 used to implement some embodiments. For example, the systemdescribed above in reference to FIGS. 1-4 may be at least partiallyimplemented using computer system 1600. As another example, theprocesses described in reference to FIGS. 5, 6, 8, 10, and 12-15 may beat least partially implemented using sets of instructions that areexecuted using computer system 1600.

Computer system 1600 may be implemented using various appropriatedevices. For instance, the computer system may be implemented using oneor more personal computers (PCs), servers, mobile devices (e.g., asmartphone), tablet devices, and/or any other appropriate devices. Thevarious devices may work alone (e.g., the computer system may beimplemented as a single PC) or in conjunction (e.g., some components ofthe computer system may be provided by a mobile device while othercomponents are provided by a tablet device).

As shown, computer system 1600 may include at least one communicationbus 1605, one or more processors 1610, a system memory 1615, a read-onlymemory (ROM) 1620, permanent storage devices 1625, input devices 1630,output devices 1635, various other components 1640 (e.g., a graphicsprocessing unit), and one or more network interfaces 1645.

Bus 1605 represents all communication pathways among the elements ofcomputer system 1600. Such pathways may include wired, wireless,optical, and/or other appropriate communication pathways. For example,input devices 1630 and/or output devices 1635 may be coupled to thesystem 1600 using a wireless connection protocol or system.

The processor 1610 may, in order to execute the processes of someembodiments, retrieve instructions to execute and/or data to processfrom components such as system memory 1615, ROM 1620, and permanentstorage device 1625. Such instructions and data may be passed over bus1605.

System memory 1615 may be a volatile read-and-write memory, such as arandom access memory (RAM). The system memory may store some of theinstructions and data that the processor uses at runtime. The sets ofinstructions and/or data used to implement some embodiments may bestored in the system memory 1615, the permanent storage device 1625,and/or the read-only memory 1620. ROM 1620 may store static data andinstructions that may be used by processor 1610 and/or other elements ofthe computer system.

Permanent storage device 1625 may be a read-and-write memory device. Thepermanent storage device may be a non-volatile memory unit that storesinstructions and data even when computer system 1600 is off orunpowered. Computer system 1600 may use a removable storage deviceand/or a remote storage device as the permanent storage device.

Input devices 1630 may enable a user to communicate information to thecomputer system and/or manipulate various operations of the system. Theinput devices may include keyboards, cursor control devices, audio inputdevices and/or video input devices. Output devices 1635 may includeprinters, displays, and/or audio devices. Some or all of the inputand/or output devices may be wirelessly or optically connected to thecomputer system.

Other components 1640 may perform various other functions. Thesefunctions may include performing specific functions (e.g., graphicsprocessing, sound processing, etc.), providing storage, interfacing withexternal systems or components, etc.

Finally, as shown in FIG. 16 , computer system 1600 may be coupled toone or more networks 1650 through one or more network interfaces 1645.For example, computer system 1600 may be coupled to a web server on theInternet such that a web browser executing on computer system 1600 mayinteract with the web server as a user interacts with an interface thatoperates in the web browser. Computer system 1600 may be able to accessone or more remote storages 1660 and one or more external components1665 through the network interface 1645 and network 1650. The networkinterface(s) 1645 may include one or more application programminginterfaces (APIs) that may allow the computer system 1600 to accessremote systems and/or storages and also may allow remote systems and/orstorages to access computer system 1600 (or elements thereof).

As used in this specification and any claims of this application, theterms “computer”, “server”, “processor”, and “memory” all refer toelectronic devices. These terms exclude people or groups of people. Asused in this specification and any claims of this application, the term“non-transitory storage medium” is entirely restricted to tangible,physical objects that store information in a form that is readable byelectronic devices. These terms exclude any wireless or other ephemeralsignals.

It should be recognized by one of ordinary skill in the art that any orall of the components of computer system 1600 may be used in conjunctionwith some embodiments. Moreover, one of ordinary skill in the art willappreciate that many other system configurations may also be used inconjunction with some embodiments or components of some embodiments.

In addition, while the examples shown may illustrate many individualmodules as separate elements, one of ordinary skill in the art wouldrecognize that these modules may be combined into a single functionalblock or element. One of ordinary skill in the art would also recognizethat a single module may be divided into multiple modules.

The foregoing relates to illustrative details of exemplary embodimentsand modifications may be made without departing from the spirit andscope of the disclosure as defined by the following claims.

We claim:
 1. A device that manages twist lock connectors for shippingcontainers, the device comprising: a platform able to retain a shippingcontainer; a handler coupled to the platform, the handler comprising: agantry that moves along a first linear path parallel to a first axis;and a robotic arm coupled to the gantry; and a shuttle that exchangesthe twist lock connectors with the handler, wherein the shuttle movesalong a second linear path perpendicular to the first axis.
 2. Thedevice of claim 1, wherein the handler is able to attach a twist lockconnector to the shipping container and detach a twist lock connectorfrom the shipping container.
 3. The device of claim 1, wherein therobotic arm comprises a plurality of pivoting elements and a firstrotating element that rotates about a second axis that is perpendicularto the first axis.
 4. The device of claim 3, wherein the robotic armcomprises a gripper that is able to grasp and manipulate the twist lockconnectors.
 5. The device of claim 4 further comprising a set ofreceptacles, each receptacle able to receive a twist lock connector. 6.The device of claim 5, wherein the handler attaches a twist lockconnector to the shipping container by receiving, via the shuttle, thetwist lock connector from a particular receptacle from the set ofreceptacles, moving the gantry along the first linear path, and usingthe robotic arm to couple the twist lock connector to a particular twistlock receptacle of the shipping container.
 7. The device of claim 6,wherein the handler detaches a twist lock connector from the shippingcontainer by decoupling the twist lock connector from a particularreceptacle of the shipping container using the robotic arm, moving thegantry along the first linear path, and placing the twist lockconnector, via the shuttle, in a particular receptacle from the set ofreceptacles.
 8. A device that attaches twist lock connectors to shippingcontainers, the device comprising: a platform able to retain a shippingcontainer; and a handler coupled to the platform, the handlercomprising: a gantry that moves along a first linear path parallel to afirst axis; and a robotic arm coupled to the gantry, the robotic armcomprising a gripper that grasps and manipulates each twist lockconnector from the twist lock connectors.
 9. The device of claim 8,wherein the robotic arm comprises a plurality of pivoting elements and afirst rotating element that rotates about a second axis that isperpendicular to the first axis.
 10. The device of claim 9, wherein therobotic arm comprises a gripper that is able to grasp and manipulate thetwist lock connectors.
 11. The device of claim 10 further comprising aset of receptacles, each receptacle able to receive a twist lockconnector.
 12. The device of claim 11, wherein the handler attaches atwist lock connector to the shipping container by receiving the twistlock connector from a particular receptacle from the set of receptacles,moving the gantry along the first linear path, and using the robotic armto couple the twist lock connector to a particular twist lock receptacleof the shipping container.
 13. The device of claim 8 further comprisinga second handler coupled to the platform, the second handler comprising:a second gantry that moves along a second linear path parallel to thefirst axis; and a second robotic arm coupled to the second gantry. 14.The device of claim 13 further comprising a third handler coupled to theplatform, the third handler comprising: a third gantry that moves alonga third linear path perpendicular to the first axis; and a third roboticarm coupled to the third gantry.
 15. A device that detaches twist lockconnectors from shipping containers, the device comprising: a platformable to retain a shipping container; and a handler coupled to theplatform, the handler comprising: a gantry that moves along a firstlinear path parallel to a first axis; and a robotic arm coupled to thegantry, the robotic arm comprising a gripper that grasps and manipulateseach twist lock connector from the twist lock connectors.
 16. The deviceof claim 15, wherein the robotic arm comprises a plurality of pivotingelements and a first rotating element that rotates about a second axisthat is perpendicular to the first axis.
 17. The device of claim 16,wherein the robotic arm comprises a gripper that is able to grasp andmanipulate the twist lock connectors.
 18. The device of claim 17 furthercomprising a set of receptacles, each receptacle able to receive a twistlock connector.
 19. The device of claim 18, wherein the handler detachesa twist lock connector from the shipping container by decoupling thetwist lock connector from a particular receptacle of the shippingcontainer using the robotic arm, moving the gantry along the firstlinear path, and placing the twist lock connector in a particularreceptacle from the set of receptacles.
 20. The device of claim 15further comprising a second handler coupled to the platform, the secondhandler comprising: a second gantry that moves along a second linearpath parallel to the first axis; and a second robotic arm coupled to thesecond gantry.